IEEE - Institute of Electrical and Electronics Engineers, Inc. - On the benefits of surrogate Lagrangians in optimal control and planning algorithms

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Gerardo De La Torre ; Todd D. Murphey
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 7,384 - 7,391
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799410
Regular:

This paper explores the relationship between numerical integrators and optimal control algorithms. Specifically, the performance of the differential dynamical programming (DDP) algorithm is... View More

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